Robot lower limb mechanism and robot

Abstract

The invention provides a robot lower limb mechanism and a robot. The robot lower limb mechanism comprises a hip assembly, a leg assembly, a foot assembly and an ankle joint assembly, the leg assembly comprises a thigh support and a shank support, and a first ankle joint motor controls the rotation angle of the foot assembly relative to the shank support in the front-back direction through a first transmission piece; the second ankle joint motor controls the rotation angle of the foot assembly relative to the shank support in the left-right direction, and meanwhile the walking wheel can be switched between a foot type mode and a wheel type mode and locked in the wheel type mode. Knee joint transmission is used, the mounting position of the joint motor for controlling the shank support is increased, the rotational inertia of the whole robot lower limb structure relative to the hip joint is reduced under the condition that the degree of freedom of legs is not reduced, then the control precision and response speed of the hip joint are improved, hip joint loss is reduced, and the service life of hip joint components is prolonged.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot lower limb mechanism and a robot. Background Art

[0002] Currently, the most important branch of robots is the design and driving method of their lower limbs. In related technologies, a robot can switch the movement mode of its feet in different action modes to achieve the conversion between a wheel-legged robot and a legged robot. The wheel-legged robot and the legged robot can cope with different terrain structures. Specifically, the wheeled robot has the characteristics of fast movement speed and stable operation, while the legged robot has the advantages of flexible movement and crossing rough terrain. In a complex working environment, the combination of the advantages of both can make up for the lack of movement ability of the legged robot and also solve the problems that the wheeled robot cannot be stably fixed at a point and cross rough terrains such as steps.

[0003] However, the current robot design mainly focuses on the configuration of the legged robot, and the wheeled robot cannot achieve the flexible design of the legs of the legged robot. Moreover, most of the existing solutions consider the working conditions of a single form of the robot, and there are few cases of combining the two. In order to achieve the conversion between the two forms, additional motors often need to be added in the design, which not only makes the overall structure design very complex and redundant in a single form, but also, due to the loose arrangement of the traditional leg joints, adding motors will also cause the lower limb mechanism to mutate, resulting in inflexible movement of the robot and a large load on the hip motors. Summary of the Invention

[0004] Multiple embodiments in this application provide a robot lower limb mechanism and a robot, which can reduce the moment of inertia of the hip drive to a certain extent without changing the degrees of freedom of the robot's feet and improve the stability of the robot.

[0005] In a first aspect, an embodiment of this application provides a robot lower limb mechanism, including:

[0006] A hip component;

[0007] A leg component, including a thigh bracket and a calf bracket, one end of the thigh bracket is rotatably connected to the hip component, and the other end is rotatably connected to the calf bracket;

[0008] A foot component, one end of the calf bracket away from the thigh bracket is connected to the foot component, and the foot component includes a walking wheel;

[0009] Ankle joint assembly, including a first ankle joint motor, a second ankle joint motor and a first transmission member. The first ankle joint motor is arranged on the calf bracket, and the first ankle joint motor controls the foot assembly to rotate relative to the calf bracket by an angle in the front-back direction through the first transmission member; the second ankle joint motor is arranged at one end of the calf bracket away from the thigh bracket, and the second ankle joint motor controls the foot assembly to rotate relative to the calf bracket by an angle in the left-right direction, and at the same time realizes the switching between the walking wheel in the foot mode and the wheel mode and the locking of the wheel mode.

[0010] Optionally, the ankle joint assembly further includes a first limiting group and a wheel body mounting bracket. Among them, the wheel body mounting bracket is movably connected to the first transmission member, the second ankle joint motor is arranged on the wheel body mounting bracket and can drive the wheel body mounting bracket to rotate relative to the calf bracket by an angle in the left-right direction, and the walking wheel is rotatably connected to the second ankle joint motor;

[0011] The first limiting group is used to limit the rotation angle of the walking wheel between the wheel mode and the foot mode. The calf bracket includes a second limiting group, and the second limiting group is used to cooperate with the first limiting group to lock the wheel body mounting bracket when the walking wheel is in the wheel mode.

[0012] Optionally, the lower limb mechanism of the robot further includes a knee joint driving assembly. The knee joint driving assembly includes a knee joint motor and a second transmission member. The knee joint motor is connected to one end of the thigh bracket close to the hip joint assembly, and the knee joint motor controls the rotation angle of the calf bracket relative to the thigh bracket through the second transmission member.

[0013] Optionally, the second transmission member includes a first end and a second end arranged opposite to each other. The first end is connected to the knee joint motor, and the second end can push the calf bracket to rotate relative to the thigh bracket.

[0014] Optionally, the knee joint driving assembly further includes a crank. The crank is respectively connected to the knee joint motor and the first end. The knee joint motor drives the crank to rotate to drive the second transmission member to push the calf bracket to rotate relative to the thigh bracket.

[0015] Optionally, the leg assembly further includes a runner. The runner is rotatably arranged at one end of the thigh bracket close to the calf bracket. The second end is connected to the runner and rotates around the runner to abut against the calf bracket to rotate relative to the thigh bracket.

[0016] Optionally, the knee joint drive assembly further includes a third transmission member, which is fixedly connected to the calf bracket, and both the runner and the second end are rotatably connected to the third transmission member. When the second end rotates around the runner, the third transmission member pushes the calf bracket to rotate relative to the thigh bracket.

[0017] Optionally, the thigh bracket includes a thigh housing, which includes a first region and a second region. The first region is disposed at one end close to the hip joint assembly, and the second region is disposed at one end close to the calf bracket. The knee joint motor is disposed in the first region, the runner is disposed in the second region, and the second transmission member passes through the first region and the second region.

[0018] Optionally, the hip joint assembly includes a first hip joint motor and a second hip joint motor, and the rotation axes of the first hip joint motor and the second hip joint motor are perpendicular.

[0019] In a second aspect, an embodiment of the present application provides a robot, which includes the robot lower limb mechanism as described above.

[0020] Through multiple embodiments provided in this specification, by moving the knee joint motor to the thigh bracket and using the second transmission member for transmission, the installation position of the joint motor for controlling the calf bracket is improved. Without reducing the degrees of freedom of the leg, the rotational inertia of the entire robot lower limb mechanism relative to the hip joint is reduced, thereby improving the control accuracy and response speed of the hip joint, reducing hip joint wear, and increasing the service life of the hip joint assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0022] Figure 2 It is another schematic structural diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0023] Figure 3 It is yet another schematic structural diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0024] Figure 4 For the embodiment of the present application Figure 3 The enlarged structural diagram of A therein.

[0025] Figure 5 It is a schematic structural diagram of the ankle joint assembly according to an embodiment of the present application.

[0026] Figure 6 It is still another schematic structural diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0027] Figure 7 Another structural schematic diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0028] Figure 8 Another structural schematic diagram of the robot lower limb mechanism according to an embodiment of the present application.

[0029] Figure 9 Module schematic diagram of the robot according to an embodiment of the present application.

[0030] Description of reference numerals

[0031] 100, robot lower limb mechanism; 10, hip component; 11, first hip joint motor; 12, second hip joint motor; 20, leg component; 21, thigh bracket; 211, thigh housing; 212, first region; 213, second region; 22, calf bracket; 222, second limiting group; 23, runner; 30, foot component; 31, walking wheel; 311, bionic foot pad; 40, knee joint drive component; 41, knee joint motor; 42, second transmission member; 421, first end; 422, second end; 43, crank; 44, third transmission member; 50, ankle joint component; 51, first limiting group; 52, wheel body mounting frame; 53, first ankle joint motor, 54, second ankle joint motor; 55, first transmission member; 200, robot. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of this specification will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0033] In this specification, the accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features.

[0034] Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of this specification. The terms used in this specification are only for the purpose of describing specific implementation manners and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items. The singular forms "a", "the above" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0035] In the description of this specification, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of this specification, "a plurality of" means two or more unless otherwise specifically defined.

[0036] In the description of this specification, the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of the simplified description of this specification and does not indicate that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, that is, it cannot be construed as a limitation on this application.

[0037] In the description of this specification, unless otherwise clearly defined, the terms "installed", "connected", "joined", "fixed", "set", etc. shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can also be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this specification can be understood according to specific circumstances.

[0038] Please refer to Figures 1 to 4According to an embodiment of the first aspect of the present application, an embodiment of the present application provides a robot lower limb mechanism 100, which includes: a hip component 10, a leg component 20, a foot component 30, and an ankle joint component 50. The leg component 20 includes a thigh bracket 21 and a calf bracket 22. One end of the thigh bracket 21 is rotatably connected to the hip component 10, and the other end is rotatably connected to the calf bracket 22; the end of the calf bracket 22 away from the thigh bracket 21 is connected to the foot component 30, and the foot component 30 includes a walking wheel 31; the ankle joint component 50 includes a first ankle joint motor 53, a second ankle joint motor 54, and a first transmission member 55. The first ankle joint motor 53 is disposed on the calf bracket 22, and the first ankle joint motor 53 controls the foot component 30 to rotate relative to the calf bracket 22 by an angle in the front-rear direction through the first transmission member 55; the second ankle joint motor 54 is disposed at the end of the calf bracket 22 away from the thigh bracket 21, and the second ankle joint motor 54 controls the foot component 30 to rotate relative to the calf bracket 22 by an angle in the left-right direction, and at the same time realizes the switching between the walking wheel 31 in the foot mode and the wheel mode and the locking of the wheel mode.

[0039] Please refer to Figures 5 to 8 In some embodiments, the ankle joint component 50 further includes a first limiting group 51 and a wheel body mounting bracket 52. Among them, the wheel body mounting bracket 52 is movably connected to the first transmission member 55, the second ankle joint motor 54 is disposed on the wheel body mounting bracket 52 and can drive the wheel body mounting bracket 52 to rotate relative to the calf bracket 22 by an angle in the left-right direction, and the walking wheel 31 is rotatably connected to the second ankle joint motor 54; the first limiting group 51 is used to limit the rotation angle of the walking wheel 31 between the wheel mode and the foot mode, and the calf bracket 22 includes a second limiting group 222, and the second limiting group 222 is used to cooperate with the first limiting group 51 to lock the wheel body mounting bracket 52 when the walking wheel 31 is in the wheel mode.

[0040] In this embodiment, the second ankle joint motor 54 controls the left and right rotation of the wheel body mounting frame 52 to drive the walking wheel 31 to rotate left and right relative to the calf bracket 22 and control the switching of the walking wheel 31 between the foot mode and the wheel mode. It can be understood that when the second ankle joint motor 54 controls the walking wheel 31 to move to the limit position through the wheel body mounting frame 52, at this time, the second limiting group 222 is fixedly matched with the first limiting group 51, and the walking wheel 31 realizes the wheel mode. When the second limiting group 222 is disengaged from the first limiting group 51 and the side of the walking wheel 31 contacts the ground, the walking wheel 31 realizes the foot mode. In this embodiment, when the walking wheel 31 is in the foot mode, the first ankle joint motor 53, the second ankle joint motor 54 and the first transmission member 55 cooperate to enable the bionic foot (that is, the walking wheel 31) to rotate forward and backward and left and right, and further enable the bionic foot to perform the actions of rotating the ankle forward and backward and left and right. In this way, without reducing the degrees of freedom of the foot component 30, the walking wheel 31 can be switched between the foot mode and the wheel mode, and the first ankle joint motor 53 is moved up to the position of the calf bracket 22, and the moment of inertia of the leg component 20 that the hip drive motor needs to drive is smaller, thereby reducing the driving torque of the motor provided in the hip component 10, reducing the load of the motor of the hip component 10, and improving the service life of the motor of the hip component 10.

[0041] In the implementation manner of the present application, the specific cooperation form of the second limiting group 222 and the first limiting group 51 is not limited to meet different requirements. For example, the second limiting group 222 and the first limiting group 51 can be a slider and a card slot respectively. During the movement of the wheel body mounting frame 52 relative to the calf bracket 22, the slider is inserted into the card slot to realize the switching of the wheel mode.

[0042] In some embodiments, the robot lower limb mechanism 100 further includes a knee joint drive assembly 40. The knee joint drive assembly 40 includes a knee joint motor 41 and a second transmission member 42. The knee joint motor 41 is connected to one end of the thigh bracket 21 close to the hip component 10, and the knee joint motor 41 controls the rotation angle of the calf bracket 22 relative to the thigh bracket 21 through the second transmission member 42.

[0043] In this embodiment, the thigh bracket 21 and the calf bracket 22 together constitute the leg assembly 20. The leg assembly 20 mimics the human leg and has a similar structure to the human leg. Specifically, the thigh bracket 21 has a structure similar to the human thigh, the calf bracket 22 has a structure similar to the human calf, and the thigh bracket 21 and the calf bracket 22 are rotatably connected together. One end of the thigh bracket 21 away from the calf bracket 22 is connected to the hip assembly 10, and one end of the calf bracket 22 away from the thigh bracket 21 is connected to the foot assembly 30. The cross-sectional area of the entire leg assembly 20 gradually decreases from the hip assembly 10 to the foot assembly 30, which conforms to the ergonomic design and is conducive to the robot lower limb mechanism 100 to stably support the entire robot 200. In addition, in this way, more weight of the leg assembly 20 can be concentrated at a position close to the hip assembly 10, reducing the load pressure on the motor of the hip assembly 10.

[0044] In the embodiment of the present application, by moving the knee joint motor 41 onto the thigh bracket 21 and using the second transmission member 42 for transmission, the installation position of the joint motor for controlling the calf bracket 22 is raised. Without reducing the degrees of freedom of the leg, the rotational inertia of the entire robot lower limb mechanism 100 relative to the hip joint is reduced, thereby improving the control accuracy and response speed of the hip joint, reducing hip joint wear, and increasing the service life of the hip assembly 10.

[0045] In this embodiment, the robot 200 includes two modes: the wheeled mode and the legged mode. Wheeled mode: The walking wheels 31 of the foot assembly 30 contact the ground, which is suitable for high-speed movement on flat roads; in such a mode, the wheel structure is simple and the wear is small. At the same time, the robot 200 has good static stability and is not easily toppled. Legged mode: The walking wheels 31 are retracted, and the bionic foot pads 311 on the sides of the walking wheels 31 contact the ground, which is suitable for rough terrain or precise gait control. In such a mode, the robot 200 will have stronger terrain adaptability, can cope with unstructured terrain (such as stairs, rocks, ruins), and can imitate the human obstacle-crossing strategy. For example, the robot 200 can go up and down stairs and move on terrains such as ruins with rocks or sandy land.

[0046] Specifically, the foot component 30 can switch between two modes, namely the wheeled mode and the legged mode, enabling the robot 200 to have diverse working modes. However, this will increase the weight of the foot component 30, resulting in a relatively large load on the hip drive motor. Therefore, in this embodiment, the knee joint motor 41 can be arranged at one end of the thigh bracket 21 close to the hip component 10, and the knee joint motor 41 controls the rotation angle of the calf bracket 22 relative to the thigh bracket 21 through the second transmission member 42. In this way, the important weight of the knee joint drive assembly 40 can be shifted upwards, that is, the knee joint motor 41 is shifted upwards to a position close to the hip component 10. Compared with the traditional method of directly placing the motor at the knee joint position, the center of gravity of the lower limb mechanism 100 of the robot in the implementation manner of the present application is higher, and the moment of inertia of the leg component 20 that the hip drive motor needs to drive is smaller. Furthermore, the driving torque of the motor arranged at the hip component 10 is reduced, the load on the motor of the hip component 10 is reduced, and the service life of the motor of the hip component 10 is improved.

[0047] Furthermore, the knee joint motor 41 controls the rotation angle of the calf bracket 22 relative to the thigh bracket 21 through the second transmission member 42. That is to say, the knee joint motor 41 can drive the second transmission member 42 to move, and the second transmission member 42 can control the rotation of the calf bracket 22 relative to the thigh bracket 21, thereby realizing the movement imitating the human knee joint. At the same time, the knee joint motor 41 is arranged on the thigh bracket 21 and can be protected by the shell of the thigh, avoiding the knee joint motor 41 being exposed outside and being damaged by environmental impact and vibration, and reducing the maintenance cost.

[0048] In the implementation manner of the present application, the specific type of the second transmission member 42 is not limited to meet different requirements. For example, the second transmission member 42 can be a synchronous belt, a steel wire rope or a connecting rod, etc. In the following, the second transmission member 42 is taken as a connecting rod for description.

[0049] In some embodiments, the second transmission member 42 includes a first end 421 and a second end 422 arranged opposite to each other. The first end 421 is connected to the knee joint motor 41, and the second end 422 can push the calf bracket 22 to rotate relative to the thigh bracket 21.

[0050] In this way, the knee joint motor 41 moves the first end 421 relative to the thigh bracket 21 by pushing, and the second end 422 can push the calf bracket 22 to complete the rotation movement relative to the thigh bracket 21.

[0051] In some embodiments, the knee joint drive assembly 40 further includes a crank 43. The crank 43 is respectively connected to the knee joint motor 41 and the first end 421. The knee joint motor 41 drives the crank 43 to rotate to drive the second transmission member 42 to push the calf bracket 22 to rotate relative to the thigh bracket 21.

[0052] In such an embodiment, the connecting rod can cooperate with the crank 43. The crank 43 is connected to the knee joint motor 41 and can rotate along the motor shaft of the knee joint motor 41 under the drive of the knee joint motor 41. The protruding end of the crank 43 can be connected to the first end 421. During the process of the crank 43 being driven to rotate by the knee joint motor 41, it can push the second transmission member 42 to move along the direction of the thigh bracket 21, so that the second end 422 can abut against and push the calf bracket 22 to rotate relative to the thigh bracket 21.

[0053] In some embodiments, the leg assembly 20 further includes a runner 23. The runner 23 is rotatably arranged at one end of the thigh bracket 21 close to the calf bracket 22. The second end 422 is connected to the runner 23 and rotates around the runner 23 to abut against the calf bracket 22 to rotate relative to the thigh bracket 21.

[0054] In this way, the axle of the runner 23 can be used as the center of the knee joint of the leg assembly 20. The second end 422 is rotatably connected to the runner 23. After the first end 421 is pushed by the crank 43, the second end 422 can rotate along with the runner 23 to drive the calf bracket 22. In this way, the movement track of the second end 422 driving the calf bracket 22 will be fixed. When the robot 200 needs to make corresponding knee-bending or leg-lifting actions, the knee joint drive assembly 40 can cooperate with the actions of the corresponding mode of the leg assembly 20.

[0055] In some embodiments, the knee joint drive assembly 40 further includes a third transmission member 44. The third transmission member 44 is fixedly connected to the calf bracket 22, and both the runner 23 and the second end 422 are rotatably connected to the third transmission member 44. When the second end 422 rotates around the runner 23, the third transmission member 44 pushes the calf bracket 22 to rotate relative to the thigh bracket 21.

[0056] In this embodiment, the third transmission member 44 realizes the relative angle adjustment of the calf bracket 22 according to the relative position after the second end 422 rotates relative to the runner 23.

[0057] In some embodiments, a sliding abutting surface is formed at one end of the calf bracket 22 close to the thigh bracket 21. During the process of the second end 422 rotating around the runner 23, it abuts against the sliding abutting surface to push the calf bracket 22 to rotate relative to the thigh bracket 21.

[0058] Specifically, the second end 422 rotates under the traction of the runner 23 and abuts against the sliding abutting surface. When the second end 422 presses against the sliding abutting surface, it can drive the calf bracket 22 to move relative to the thigh bracket 21. In this embodiment, a coating can be provided on the sliding abutting surface to improve its wear resistance.

[0059] In addition, in this embodiment, the angular range of the rotation of the calf bracket 22 relative to the thigh bracket 21 is not limited, that is to say, the angular range of the rotation of the crank 43 and the runner 23 is not limited to meet different requirements. In one example, the angular range of the rotation of the calf bracket 22 relative to the thigh bracket 21 is 0 - 100 degrees.

[0060] In some embodiments, the thigh bracket 21 includes a thigh housing 211. The thigh housing 211 includes a first region 212 and a second region 213. The first region 212 is disposed at one end close to the hip assembly 10, and the second region 213 is disposed at one end close to the calf bracket 22. Among them, the knee joint motor 41 is disposed in the first region 212, the runner 23 is disposed in the second region 213, and the second transmission member 42 is disposed through the first region 212 and the second region 213.

[0061] In this way, the thigh housing 211 can protect the knee joint drive assembly 40 while connecting the hip assembly 10 and the calf bracket 22, avoiding the knee joint drive assembly 40 from being affected by external impacts and vibrations. The thigh housing 211 includes the first region 212 and the second region 213, which can reduce the use of materials to reduce the weight of the thigh bracket 21. At the same time, the knee joint motor 41 is disposed in the first region 212, and the first region 212 can protect the knee joint motor 41. The second region 213 can be provided with the runner 23. In such an implementation manner, different regions have different functions, realizing modular operation.

[0062] In some embodiments, the thigh housing 211 is an integrally formed structure. The first region 212 and the second region 213 can be completely connected together without gaps. The second transmission member 42 is disposed through the first region 212 and the second region 213 and will not be exposed outside. In other embodiments, the first region 212 and the second region 213 can be separated structural regions. The second transmission member 42 passes through the first region 212 and the second region 213 respectively, and part of the second transmission member 42 is exposed outside. In such an implementation manner, the weight of the leg assembly 20 can be further reduced, thereby reducing the moment of inertia of the leg assembly 20.

[0063] In some embodiments, the hip assembly 10 includes a first hip joint motor 11 and a second hip joint motor 12, and the rotation axes of the first hip joint motor 11 and the second hip joint motor 12 are perpendicular.

[0064] In this way, the first hip joint motor 11 and the second hip joint motor 12 cooperate with each other to enable the leg assembly 20 to move in two degrees of freedom. Among them, the first hip joint motor 11 can control the leg assembly 20 to move in the front-back direction; the second hip joint motor 12 can control the leg assembly 20 to move in the left-right direction. That is to say, the first hip joint motor 11 can control the leg assembly 20 to perform actions such as lifting the front leg. When the robot 200 needs to move forward or backward, etc., the first hip joint motor 11 can cooperate with the foot assembly 30 and the knee joint drive assembly 40 to achieve this action. The second hip joint motor 12 can control the leg assembly 20 to perform actions such as opening and closing the legs in the left-right direction.

[0065] In this embodiment, the first hip joint motor 11 is arranged at a position close to the waist of the robot 200, and the second hip joint motor 12 is arranged between the first hip joint motor 11 and the leg assembly 20.

[0066] In this embodiment, when the walking wheel 31 is in the bipedal mode, a plane of the walking wheel 31 can be used as the bionic foot pad 311 to contact the ground to adapt to the rough terrain. When the walking wheel 31 is in the wheeled mode, the walking wheel 31 can drive the robot 200 to move by rotating the tire.

[0067] In addition, in the implementation manner of the present application, the number of each component of the lower limb mechanism 100 of the robot is not limited to meet different requirements. For example, when the robot 200 is a bipedal robot, the hip assembly 10 includes two first hip joint motors 11 and two second hip joint motors 12, which respectively control the two leg assemblies 20, and the bottom parts of the two leg assemblies 20 are respectively provided with the foot assemblies 30. In other embodiments, the robot 200 can also be a quadruped or single-foot robot, which will not be elaborated here specifically.

[0068] Specifically, in such an embodiment, the first limiting group 51 and the second limiting group 222 cooperate to lock the position of the wheel body mounting frame 52, so as to prevent the walking wheel 31 from entering an intermediate state of state switching during the movement of the robot 200, which may cause the robot 200 to fall or even be damaged.

[0069] In this embodiment, the rotation axis of the walking wheel 31 relative to the wheel body mounting frame 52 and the rotation axis of the wheel body mounting frame 52 relative to the calf bracket 22 are perpendicular to each other. That is to say, the self-rotation axis of the walking wheel 31 and the rotation axis of the wheel body mounting frame 52 driving the walking wheel 31 relative to the calf bracket 22 are perpendicular. In this way, the wheel body mounting frame 52 of the robot 200 can drive the walking wheel 31 to move to achieve the conversion between the wheeled mode and the bipedal mode.

[0070] In the wheeled mode, the first limiting group 51 and the second limiting group 222 can be clamped and locked together, so that the axis direction of the walking wheel 31 is fixed by the wheel body mounting bracket 52. At this time, the walking wheel 31 can rotate self-driven by its own motor, and then drive the robot 200 to move. In the legged mode, the first limiting group 51 and the second limiting group 222 can be separated, so that one side of the walking wheel 31 can be used as the sole, and the robot 200 can lift its legs and take steps through other motors. It should be noted that after the side of the walking wheel 31 touches the ground, the motor controlling the walking wheel 31 can still rotate within a small range. Since the side of the walking wheel 31 and the ground are relatively stationary, it will drive the leg assembly 20 to rotate in the opposite direction, and then realize the in-toe or out-toe motion form of the robot 200 (that is, the knee joint faces in or out).

[0071] Of course, in some other embodiments, the foot component 30 may simultaneously include a bionic foot and a walking wheel 31. Both the bionic foot and the walking wheel 31 can move up and down along the leg component 20, and the moving directions of the bionic foot and the walking wheel 31 are opposite. That is to say, in one example, when the bionic foot moves downward relative to the leg component 20 and touches the ground, the walking wheel 31 moves upward relative to the leg component 20 to avoid the walking wheel 31 touching the ground. At this time, the robot 200 is in the legged mode. In another example, when the walking wheel 31 moves downward relative to the leg component 20 and touches the ground, the bionic foot moves upward relative to the leg component 20 to avoid the bionic foot touching the ground. At this time, the robot 200 is in the wheeled mode.

[0072] In still some other embodiments, the foot component 30 may simultaneously include a bionic foot and a walking wheel 31. The relative position of the bionic foot and the leg component 20 remains unchanged, and the walking wheel 31 is arranged on one side of the bionic foot and can move up and down along the leg component 20. In one example, the bionic foot touches the ground and the walking wheel 31 does not touch the ground. At this time, the robot 200 is in the legged mode. In another example, the walking wheel 31 moves downward relative to the bionic foot until the walking wheel 31 touches the ground and lifts the bionic foot off the ground, and the robot 200 rises. At this time, the robot 200 is in the wheeled mode.

[0073] In some other embodiments, the foot component 30 may include a bionic foot. A walking wheel 31 is provided at the bottom of the bionic foot, and the walking wheel 31 can move up and down along the leg component 20. In one example, the bionic foot touches the ground, the walking wheel 31 does not touch the ground and can retract into the bionic foot. At this time, the robot 200 is in the legged mode. In another example, the walking wheel 31 moves downward relative to the bionic foot until the walking wheel 31 touches the ground and lifts the bionic foot off the ground, and the robot 200 rises. At this time, the state of the robot 200 is in a state similar to roller skates. The leg component 20 is connected to the bionic foot, and the walking wheel 31 extends from the sole of the bionic foot to the ground. The robot 200 is driven to move by the walking wheel 31, and the robot 200 is in the wheeled mode. In this embodiment, the number of walking wheels 31 included in each bionic foot is not limited to meet different requirements. For example, the sole of each bionic foot may include one walking wheel 31; or the sole of each bionic foot may include two walking wheels 31; or the sole of each bionic foot may include three walking wheels 31; or the sole of each bionic foot may include four walking wheels 31, etc.

[0074] Please refer to Figure 9 According to the embodiments of the second aspect of the present application, an embodiment of the present application provides a robot 200, which includes the robot lower limb mechanism 100 as described above.

[0075] It should be noted that although some embodiments of the present application take a humanoid robot as an example, the implementation manners of the present application can be applied to other robots, such as quadruped robots, wheeled robots, tracked robots, etc. The present application implementation manners are not limited thereto. When the robot 200 is a humanoid robot, the bionic machine may also have a torso, arms, a head, etc.

[0076] For the functions and effects of this embodiment, reference may be made to the foregoing embodiments for explanation and will not be repeated here.

[0077] It can be understood that in various embodiments of this specification, the magnitudes of the sequence numbers of the various processes do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this specification.

[0078] It can be understood that the various implementation manners described in this specification can be implemented alone or in combination, and the embodiments of this specification are not limited thereto.

[0079] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0080] As described above, these are only specific embodiments of this specification. However, the scope of protection of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this specification can easily think of changes or substitutions, which should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be subject to the scope of protection of the claims.

Claims

1. A robot lower limb mechanism, characterized in that, Comprising: A hip component; A leg component, including a thigh bracket and a calf bracket, one end of the thigh bracket is rotatably connected to the hip component, and the other end is rotatably connected to the calf bracket; A foot component, one end of the calf bracket away from the thigh bracket is connected to the foot component, and the foot component includes a walking wheel; An ankle joint component, including a first ankle joint motor, a second ankle joint motor and a first transmission member, the first ankle joint motor is arranged on the calf bracket, and the first ankle joint motor controls the foot component to rotate relative to the calf bracket in the front-rear direction through the first transmission member; the second ankle joint motor is arranged at one end of the calf bracket away from the thigh bracket, and the second ankle joint motor controls the foot component to rotate relative to the calf bracket in the left-right direction, and at the same time realizes the switching between the foot mode and the wheel mode of the walking wheel and the locking of the wheel mode.

2. The robot lower limb mechanism according to claim 1, characterized in that, The ankle joint component further includes a first limiting group and a wheel body mounting frame. Among them, the wheel body mounting frame is movably connected to the first transmission member, the second ankle joint motor is arranged on the wheel body mounting frame and can drive the wheel body mounting frame to rotate relative to the calf bracket in the left-right direction, and the walking wheel is rotatably connected to the second ankle joint motor; The first limiting group is used to limit the rotation angle of the walking wheel between the wheel mode and the foot mode, and the calf bracket includes a second limiting group, and the second limiting group is used to cooperate with the first limiting group to lock the wheel body mounting frame when the walking wheel is in the wheel mode.

3. The robot lower limb mechanism according to claim 1, characterized in that, The robot lower limb mechanism further includes a knee joint driving component, and the knee joint driving component includes a knee joint motor and a second transmission member. The knee joint motor is connected to one end of the thigh bracket close to the hip component, and the knee joint motor controls the rotation angle of the calf bracket relative to the thigh bracket through the second transmission member.

4. The robot lower limb mechanism according to claim 3, characterized in that, The second transmission member includes a first end and a second end arranged opposite to each other. The first end is connected to the knee joint motor, and the second end can push the calf bracket to rotate relative to the thigh bracket.

5. The robot lower limb mechanism according to claim 4, characterized in that, The knee joint driving component further includes a crank, and the crank is respectively connected to the knee joint motor and the first end. The knee joint motor drives the crank to rotate to drive the second transmission member to push the calf bracket to rotate relative to the thigh bracket.

6. The robot lower limb mechanism according to claim 5, characterized in that The leg component further includes a runner, and the runner is rotatably arranged at one end of the thigh bracket close to the calf bracket. The second end is connected to the runner and rotates around the runner to abut against the calf bracket to rotate relative to the thigh bracket.

7. The robot lower limb mechanism according to claim 6, characterized in that, The knee joint driving component further includes a third transmission member, and the third transmission member is fixedly connected to the calf bracket, and both the runner and the second end are rotatably connected to the third transmission member. Among them, when the second end rotates around the runner, the third transmission member pushes the calf bracket to rotate relative to the thigh bracket.

8. The robot lower limb mechanism according to claim 6, characterized in that, The thigh bracket includes a thigh housing, the thigh housing includes a first region and a second region, the first region is arranged at one end close to the hip assembly, and the second region is arranged at one end close to the calf bracket; wherein, the knee joint motor is arranged in the first region, the runner is arranged in the second region, and the second transmission member is arranged through the first region and the second region.

9. The robot lower limb mechanism according to claim 1, characterized in that, The hip assembly includes a first hip joint motor and a second hip joint motor, and the rotation axes of the first hip joint motor and the second hip joint motor are perpendicular.

10. A robot, characterized in that, It includes the robot lower limb mechanism according to any one of claims 1-9.

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